.ModelicaAdditions.MultiBody.Parts.Body

Information

Rigid body with one cut. All the mass and inertia properties must be
supplied with respect to the center of mass.

Parameters:
  rCM[3]: Position vector from the origin of frame_a to the center of
          mass, resolved in frame_a in [m].
  m     : Mass of body in [kg].
  Ixy   : Elements (x,y) of the inertia tensor of the body with respect to
          the center of mass, resolved in frame_a in [kgm^2].
          The following elements can be defined:
          I11, I22, I33, I21, I31, I32.
          (Move the inertial from into the center of mass by translation
          and resolve the inertia tensor in this frame).